Hi, with my project I'm trying to move the ur10 robot and I've attached a 3-finger gripper at the end-effector. I've already found some documentation on how to move it giving values to the joints, however my goal would be to give a final pose of the end-effector and make it unfold in order to get to that pose.
My thought would be of using the inverse kinematics and as you can imagine it's quite complex and I can't find it. I'm trying to simulate the robot in gazebo so I can see it moving, so I would need a way of setting a final pose for the end effector and with this calculate the joints positions or simply make it move to there.
I'd appreciate some feedback
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